This was a project within the frame of the class "Bio-Inspired Motor Control and Robot Locomotion" hold at ETH Zurich.
The hopping monopod is modeled as a two body system. Spring-damper elements and actuators are included between body and leg and in the linear extension of the leg. The simulation shows active height, body pitch and speed control. A position control with set point filter is used to bring the hopper back to the origin to conduct somersaults. The somersaults are feed forward controlled.
Inspired by Marc Raiberts Legged Robots at MIT
http://www.youtube.com/watch?v=n3WhwQ0S-vM
http://www.ai.mit.edu/projects/leglab/old-leglab/robots/3D_biped/3D_biped.html
@VoiceOfAleppo We often use MATLAB for simulations at our university. It is an easy way to get quickly to results and visualizations for small projects.
fankipete 3 months ago
@fankipete ok , why didn't you pick a more elaborate language for scientific computing such as lisp for instance?
VoiceOfAleppo 3 months ago
@VoiceOfAleppo MathWorks MATLAB
fankipete 3 months ago
what's the name of the simulation software?
VoiceOfAleppo 3 months ago